Honda Odyssey 21-25 support

docs/CARS.md

@@ -87,7 +87,7 @@
 |Honda|Insight 2019-22|All|[Upstream](#upstream)|
 |Honda|Inspire 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
-|Honda|Odyssey 2021-25|All|[Community](#community)|
+|Honda|Odyssey 2021-25|All|[Upstream](#upstream)|
 |Honda|Passport 2019-23|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-24|All|[Community](#community)|
@@ -421,4 +421,4 @@ Toyota, and the GM Global B platform.
 All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
 CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
 manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
-may one day be supported, but we have no immediate plans to support FlexRay.
+may one day be supported, but we have no immediate plans to support FlexRay.

opendbc/car/honda/carcontroller.py

@@ -4,7 +4,7 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
 from opendbc.car.honda import hondacan
-from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, HONDA_BOSCH_1000, CarControllerParams
 from opendbc.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -119,7 +119,7 @@ def __init__(self, dbc_names, CP):
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
+    conversion = CV.KPH_TO_MS if CS.is_metric_cruise else CV.MPH_TO_MS
     hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
@@ -207,8 +207,11 @@ def update(self, CC, CS, now_nanos):
 
         if self.CP.carFingerprint in HONDA_BOSCH:
           self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
-          self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
-
+          if self.CP.carFingerprint in HONDA_BOSCH_1000:
+            self.gas = float(np.interp(accel, self.params.BOSCH_1000_GAS_LOOKUP_BP, self.params.BOSCH_1000_GAS_LOOKUP_V))
+          else:
+            self.gas = float(np.interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
+
           stopping = actuators.longControlState == LongCtrlState.stopping
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,

opendbc/car/honda/carstate.py

@@ -5,7 +5,7 @@
 from opendbc.can.parser import CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
+from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
                                                  HondaFlags, CruiseButtons, CruiseSettings, GearShifter
@@ -70,7 +70,7 @@ def get_can_messages(CP, gearbox_msg):
 
   # TODO: clean this up
   if CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                           CAR.ACURA_RDX_3G, CAR.HONDA_ODYSSEY_5G_MMR, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
     pass
   elif CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
     pass
@@ -107,6 +107,7 @@ def __init__(self, CP):
     self.brake_switch_active = False
     self.cruise_setting = 0
     self.v_cruise_pcm_prev = 0
+    self.is_metric_cruise = False
 
     # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster
     # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX)
@@ -133,13 +134,21 @@ def update(self, can_parsers) -> structs.CarState:
     # used for car hud message
     self.is_metric = not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
 
+    # is_metric_cruise is used for cruise speed display
+    # ACC_HUD is on camera bus on radarless cars
+    acc_hud = cp_cam.vl["ACC_HUD"] if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS else cp.vl["ACC_HUD"]
+    if acc_hud["CRUISE_SPEED"] >= 253:
+      self.is_metric_cruise = self.is_metric
+    else:
+      self.is_metric_cruise = not acc_hud["IMPERIAL_UNIT"]
+
     # ******************* parse out can *******************
     # STANDSTILL->WHEELS_MOVING bit can be noisy around zero, so use XMISSION_SPEED
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
     if self.CP.carFingerprint in (CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_BOSCH_DIESEL, CAR.HONDA_CRV_HYBRID, CAR.HONDA_INSIGHT,
-                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_ODYSSEY_5G_MMR, CAR.HONDA_E, CAR.HONDA_CIVIC_2022, CAR.HONDA_HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_CHN, CAR.HONDA_FREED, CAR.HONDA_HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -225,7 +234,7 @@ def update(self, can_parsers) -> structs.CarState:
         ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
         ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
 
-        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
+        conversion = CV.KPH_TO_MS if self.is_metric_cruise else CV.MPH_TO_MS 
         # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
         ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
         self.v_cruise_pcm_prev = ret.cruiseState.speed
@@ -251,6 +260,9 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
+    # Adds low speed warning as some models disable cruise at various speeds, ignore warning under 3mph
+    ret.low_speed_alert = ret.cruiseState.enabled and ret.vEgo >= 4 * CV.MPH_TO_MS and cp.vl["STEER_STATUS"]["STEER_CONTROL_ACTIVE"] == 0 
+
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
     if self.CP.carFingerprint in (CAR.HONDA_PILOT, CAR.HONDA_RIDGELINE):
       if ret.brake > 0.1:

opendbc/car/honda/fingerprints.py

@@ -562,6 +562,46 @@
       b'77959-T6A-P110\x00\x00',
     ],
   },
+  CAR.HONDA_ODYSSEY_5G_MMR: {
+    (Ecu.vsa, 0x18da28f1, None): [
+      b'57114-THR-A230\x00\x00',
+      b'57114-THR-A240\x00\x00',
+      b'57114-THR-A520\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36802-THR-A220\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x18dab5f1, None): [
+      b'36161-THR-A220\x00\x00',
+      b'36161-THR-A230\x00\x00',
+    ],
+    (Ecu.shiftByWire, 0x18da0bf1, None): [
+      b'54008-THR-A310\x00\x00',
+      b'54008-THR-A310\x00\x00',
+    ],
+    (Ecu.transmission, 0x18da1ef1, None): [
+      b'28102-5MX-A410\x00\x00', 
+    ],
+    (Ecu.srs, 0x18da53f1, None): [
+      b'77959-THR-A220\x00\x00',
+      b'77959-THR-A230\x00\x00',
+      b'77959-THR-A320\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
+      b'46114-THR-A530\x00\x00',
+      b'46114-THR-A540\x00\x00',
+      b'46114-THR-A720\x00\x00',
+    ],
+    (Ecu.gateway, 0x18daeff1, None): [
+      b'38897-THR-A130\x00\x00',
+      b'38897-THR-A320\x00\x00',
+      b'38897-THR-A410\x00\x00',
+    ],
+    (Ecu.eps, 0x18da30f1, None): [
+      b'39990-THR-A050\x00\x00',
+      b'39990-THR-A110\x00\x00',
+    ],
+  },
   CAR.HONDA_PILOT: {
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TG7-A520\x00\x00',

opendbc/car/honda/hondacan.py

@@ -44,11 +44,6 @@ def body(self) -> int:
     return self.offset
 
 
-def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
-  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
-  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
-
-
 def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0

opendbc/car/honda/interface.py

@@ -163,6 +163,14 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
+    elif candidate == CAR.HONDA_ODYSSEY_5G_MMR:
+      if not ret.openpilotLongitudinalControl:
+        ret.minSteerSpeed = 70.0 * CV.KPH_TO_MS
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # clipped by radar
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+
     elif candidate == CAR.HONDA_PILOT:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
@@ -206,7 +214,7 @@ def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experime
     ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
     ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
 
-    ret.steerActuatorDelay = 0.1
+    ret.steerActuatorDelay = 0.3 if candidate in (CAR.HONDA_ODYSSEY_5G_MMR) else 0.1
     ret.steerLimitTimer = 0.8
     ret.radarDelay = 0.1
 

opendbc/car/honda/values.py

@@ -33,6 +33,7 @@ class CarControllerParams:
 
   BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]  # 2m/s^2
   BOSCH_GAS_LOOKUP_V = [0, 1600]
+  BOSCH_1000_GAS_LOOKUP_V = [0, 2000]
 
   STEER_STEP = 1  # 100 Hz
   STEER_DELTA_UP = 3  # min/max in 0.33s for all Honda
@@ -180,6 +181,12 @@ class CAR(Platforms):
     {Bus.pt: 'honda_civic_ex_2022_can_generated'},
     flags=HondaFlags.BOSCH_RADARLESS,
   )
+  HONDA_ODYSSEY_5G_MMR = HondaBoschPlatformConfig(
+    [HondaCarDocs("Honda Odyssey 2021-2025", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
+    CarSpecs(mass=4590 * CV.LB_TO_KG, wheelbase=3.00, steerRatio=13.35, centerToFrontRatio=0.54, tireStiffnessFactor=1.02),  # as spec
+    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    flags=HondaFlags.BOSCH_ALT_BRAKE,
+  )
   ACURA_RDX_3G = HondaBoschPlatformConfig(
     [HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
@@ -314,9 +321,9 @@ class CAR(Platforms):
   # Note that we still attempt to match with them when they are present
   # This is or'd with (ALL_ECUS - ESSENTIAL_ECUS) from fw_versions.py
   non_essential_ecus={
-    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G],
+    Ecu.eps: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC_2022, CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_ODYSSEY_5G_MMR],
     Ecu.vsa: [CAR.ACURA_RDX_3G, CAR.HONDA_ACCORD, CAR.HONDA_CIVIC, CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CIVIC_2022, CAR.HONDA_CRV_5G, CAR.HONDA_CRV_HYBRID,
-              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT],
+              CAR.HONDA_E, CAR.HONDA_HRV_3G, CAR.HONDA_INSIGHT, CAR.HONDA_ODYSSEY_5G_MMR], 
   },
   extra_ecus=[
     (Ecu.combinationMeter, 0x18da60f1, None),
@@ -339,6 +346,7 @@ class CAR(Platforms):
 HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES)
 HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
 HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
+HONDA_BOSCH_1000 = {CAR.HONDA_ODYSSEY_5G_MMR} # overrides for 1000 gas units per m/s accel
 
 
 DBC = CAR.create_dbc_map()

opendbc/car/torque_data/params.toml

@@ -20,6 +20,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_HRV" = [2.0661212805710205, 0.7521343418694775, 0.17760375789242094]
 "HONDA_INSIGHT" = [1.5201671214069354, 0.5660229120683284, 0.25808042580281876]
 "HONDA_ODYSSEY" = [1.8774809275211801, 0.8394431662987996, 0.2096978613792822]
+"HONDA_ODYSSEY_5G_MMR" = [1.6, 0.8394431662987996, 0.226]
 "HONDA_PILOT" = [1.7262026201812795, 0.9470005614967523, 0.21351430733218763]
 "HONDA_RIDGELINE" = [1.4146525028237624, 0.7356572861629564, 0.23307177552211328]
 "HYUNDAI_ELANTRA_2021" = [3.169, 2.1259108157250735, 0.0819]